EP3365634B1 - Rotation angle sensor - Google Patents

Rotation angle sensor Download PDF

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Publication number
EP3365634B1
EP3365634B1 EP16781126.4A EP16781126A EP3365634B1 EP 3365634 B1 EP3365634 B1 EP 3365634B1 EP 16781126 A EP16781126 A EP 16781126A EP 3365634 B1 EP3365634 B1 EP 3365634B1
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EP
European Patent Office
Prior art keywords
coils
rotation
coil
angle sensor
turns
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EP16781126.4A
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German (de)
French (fr)
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EP3365634A1 (en
Inventor
Ingo Herrmann
Thomas Buck
Fabian Utermoehlen
Andreas Merz
Dayo Oshinubi
Oliver Krayl
Stefan Leidich
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Robert Bosch GmbH
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Robert Bosch GmbH
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/20—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
    • G01D5/204—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature by influencing the mutual induction between two or more coils
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/20—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
    • G01D5/22—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature differentially influencing two coils
    • G01D5/225—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature differentially influencing two coils by influencing the mutual induction between the two coils
    • G01D5/2258—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage by varying inductance, e.g. by a movable armature differentially influencing two coils by influencing the mutual induction between the two coils by a movable ferromagnetic element, e.g. core
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D11/00—Component parts of measuring arrangements not specially adapted for a specific variable
    • G01D11/16—Elements for restraining, or preventing the movement of, parts, e.g. for zeroising

Definitions

  • the invention relates to a rotation angle sensor with which, for example, a rotation angle between a shaft and a further component can be determined.
  • rotation angle sensors In order to measure rotation angles, rotation angle sensors are known, for example, in which a magnet is rotated via a corresponding magnetic field sensor. The measurement of the magnetic field vector then allows a conclusion to be drawn about the angle of rotation. Such sensors also react to external magnetic fields, which are caused, for example, by a current flow from adjacent power cables and can be very sensitive to interference.
  • rotation angle sensor uses an eddy current effect. For example, a metallic target is moved over sensor coils that are supplied with an AC voltage and induce an eddy current in the target. This leads to a reduction in the inductance of the sensor coils and allows the rotation angle to be inferred by changing the frequency.
  • the coils are part of an oscillating circuit, the resonance frequency of which shifts when the inductance changes.
  • this type of rotation angle sensor can have a high cross sensitivity to installation tolerances (especially tilting of the target).
  • the generated frequency can also be disturbed by external electromagnetic fields (injection locking), since frequencies in the range of a few tens of MHz are usually used.
  • rotation angle sensors are also on Base of coupled coils known.
  • an alternating electromagnetic field is built up in a single excitation coil, which couples into several receiving coils and induces a voltage there in each case.
  • a rotatably mounted, electrically conductive target is used which, depending on its angular position, influences the inductive coupling between the excitation coil and the receiving coils.
  • a rotation angle sensor is known, the stator element of which comprises several coils.
  • a rotor element which is rotatably mounted with respect to the stator element couples with these coils to different degrees depending on the angle of rotation.
  • an evaluation unit supplies the coils with alternating current in succession and determines the amount of the voltage in the energized coil that arises from the current feed.
  • Embodiments of the present invention can advantageously make it possible to determine an angle of rotation between a shaft and another component in such a way that interference from outside and / or component tolerances have little influence on a measurement.
  • the invention relates to a rotation angle sensor that can be used in particular in an environment with high electromagnetic interference fields.
  • the rotation angle sensor can be used in the engine compartment or in the vicinity of the engine compartment of a vehicle, for example for determining a position of a throttle valve, a rotor position of a BLDC engine, a position of an accelerator pedal or a position of a camshaft.
  • the angle of rotation sensor comprises a stator element with at least three coils, a rotor element which is rotatably mounted with respect to the stator element and which is designed to couple inductively with each of the at least three coils depending on an angle of rotation, and the three with an induction element Cover coils differently; and an evaluation unit for determining the angle of rotation between the rotor element and the stator element.
  • the stator element which can also carry the evaluation unit (for example an IC, that is to say an integrated circuit, or an ASIC, that is to say a user-specific integrated circuit), can for example be arranged opposite the end of a shaft on which the rotor element is fastened.
  • the rotor element can carry a target or induction element which is moved along with the shaft, covers the coils and thereby changes the inductance of the coils.
  • the evaluation unit is designed to supply the coils cyclically with alternating voltage, so that in each case a first part of the coils is supplied with alternating voltage and a remaining part is de-energized by the evaluation unit.
  • de-energized means that the coil in question is not supplied with AC voltage directly by the evaluation unit. Since all coils of the rotation angle sensor couple inductively with the rotor depending on the angle of rotation, there is also a coupling between the coils which is dependent on the angle of rotation. If one or more coils are energized (supplied with AC voltage), this generates an induced AC voltage in the other, non-energized coils via the inductive coupling, which therefore also depends on the angle of rotation.
  • An alternating electromagnetic field is generated in one, two or more of the energized coils, which, depending on the position of the rotor element, induces a voltage in the other coils or in the other coil, which allows a conclusion to be drawn about the angle of rotation.
  • the evaluation unit is designed to cyclically determine a phase and / or an amount of an induced alternating voltage in each case in the case of one or more non-energized coils and to determine the angle of rotation therefrom.
  • the evaluation unit can measure the induced voltage in the coils that are not supplied with AC voltage.
  • the AC voltage can be a frequency below one MHz, for example, which can avoid injection locking.
  • a coil supplied with AC voltage can be regarded as a transmitter coil, and the non-energized coils as receiver coils.
  • the evaluation unit is designed such that at least two coils from the first part of the coils are simultaneously supplied with different AC voltages.
  • alternating voltages with which the coils are supplied from the first part of the coils can have different frequencies, different phases and / or different amounts.
  • the AC voltages can have different frequencies, for example.
  • An AC voltage is then induced in an unpowered coil, which has components of both frequencies, the strength of which depends on the angle of rotation.
  • a Fourier analysis of the induced AC voltage enables these components to be determined and the angle of rotation to be determined.
  • the AC voltages can differ in magnitude and / or phase.
  • AC voltages of different phases induce an AC voltage in an unpowered coil, the magnitude and phase shift of which in relation to the generated AC voltages is dependent on the angle of rotation.
  • only one coil is supplied with AC voltage and an amount and / or a phase of an induced AC voltage is determined for the remaining coils. If the sensor has a total of three coils, one coil can be energized cyclically and the voltage of the two other coils can be determined or measured.
  • the induced AC voltage is determined with only one coil and the remaining coils are supplied with AC voltage. If the sensor has a total of three coils, two coils can be cyclically energized simultaneously and the voltage can be measured on the third coil.
  • the evaluation unit is designed to use the amount and / or the phase of the one or more determined AC currents or from the amount and / or the phase of the induced AC voltage to determine an axial distance between the stator element and the rotor element.
  • the distance between the two components can also be determined (for example by averaging over time) in order to reduce systematic errors in the angle determination.
  • the coils are planar coils.
  • a planar coil is to be understood as a coil whose windings or windings all lie essentially in one plane.
  • a planar coil can have only 1% of the height of its diameter.
  • the coils are arranged on and / or in a printed circuit board.
  • the windings or turns can all be applied to the two sides of a printed circuit board.
  • the windings or windings can also run inside the printed circuit board.
  • the circuit board can also carry components and / or an IC for the evaluation unit.
  • the coils overlap one another at least partially in an axial direction.
  • the coils can be arranged in the stator element essentially in one plane (for example on or within a printed circuit board), wherein they are displaced relative to one another in the circumferential direction.
  • Each of the coils can be arranged substantially in a plane orthogonal to the axial direction.
  • the fact that two coils overlap at least partially in the axial direction can be understood to mean that the two coils overlap at least partially when viewed in the axial direction. This can also be understood to mean that the two coils at least partially overlap when projected in the axial direction onto a plane orthogonal to the axial direction.
  • each of the coils has at least two successive turns or segments in the circumferential direction.
  • the coils can have a plurality of loops which are arranged one after the other in the circumferential direction, for example.
  • a turn or a segment can comprise one or more conductor loops of the coil, which completely surround a surface encircled by the coil.
  • the turns can be in run a plane that is substantially orthogonal to the axis of rotation of the rotor element.
  • each of the coils has at least one first turn and at least one second turn, the at least one first turn and the at least one second turn being oriented in opposite directions.
  • a coil When a coil is supplied with an alternating voltage, it generates an alternating electromagnetic field which is (in the first turn) oriented in a first direction and in the second turn (essentially) in a second, opposite direction.
  • the first and second directions can run essentially parallel to the axis of rotation of the rotor element.
  • the alternating fields generated by the coil induce currents in the rotor element (depending on the position of the rotor element), which in turn generate alternating fields which interact with the coil or its turns and thus change the inductance.
  • An external electromagnetic field which acts on the coil and which runs essentially homogeneously through two oppositely oriented turns, generates currents in the coil which essentially cancel each other out (with the same inductance of the turns). In this way, external interference fields can be compensated.
  • first turns and second turns of a coil are arranged alternately to one another in the circumferential direction of the stator element. In this way, a chain of turns is created for each coil, which are successively oriented in opposite directions.
  • the area encircled by the first turns is equal to an area encircled by the second turns. If each of the turns has the same number of conductor loops, this means that essentially homogeneous interference fields are already suppressed by the coil. It is possible that one or more coils have turns of different sizes.
  • turns of a coil run around surfaces of different sizes. With several turns per coil it is also possible that the coils have turns of different sizes, so that although the coils overlap, the turns are arranged offset to one another.
  • turns of the coils are arranged offset from one another.
  • the rotor element or an induction element located thereon covers the at least partially overlapping turns of different coils to different degrees, so that different inductances of the coils in question result.
  • the coils are arranged in only one angular range of the stator element.
  • the rotor element has at least one induction element or target, which is arranged in an angular range of the rotor element.
  • the induction element only partially surrounds the rotor element.
  • the induction element can only be provided in an edge region of the rotor element.
  • the induction element can be a metallic target, which is rotatably arranged on the rotor element in the axial direction opposite the stator element.
  • the induction element can be made from solid material or from a conductor on a printed circuit board.
  • the Induction element can also be provided by recesses in a solid material such as millings or as a stamped part.
  • the induction element essentially only covers one turn of a coil in the axial direction.
  • the induction element and the winding of the coil can be arranged essentially in a plane orthogonal to the axial direction. That the induction element and the winding overlap at least partially in the axial direction can be understood to mean that they overlap at least partially when viewed in the axial direction. This can also be understood to mean that they overlap at least partially when projected in the axial direction onto a plane orthogonal to the axial direction.
  • the induction element changes only the inductance of at most one turn and the rotation sensor receives a maximum resolution.
  • the rotor element may comprise a plurality of induction elements which are arranged, for example, at the same distance in the circumferential direction around the axis of rotation.
  • Fig. 1 shows a rotation angle sensor 10 consisting of a stator element 12 and a rotor element 14.
  • the rotor element 14 can be fastened on a shaft 16 of a component, such as a throttle valve, an engine, a camshaft, an accelerator pedal, etc., or can be provided by this shaft 16.
  • the shaft 16 is rotatable about the axis A and the stator element 12 lies opposite the rotor element 14 in the corresponding axial direction.
  • the stator element 12 is attached to a housing of the component.
  • the stator element 12 comprises a printed circuit board 18, on which a plurality of coils 20 are arranged in the plane of the printed circuit board 18.
  • the circuit board 18 can be a multi-layer circuit board 18 and the conductors of the coils 20 can be located on the two sides of the circuit board 18 and between the individual layers of the circuit board 18.
  • Further components for an evaluation unit 22 can be located on the printed circuit board 18.
  • the evaluation unit 22 can supply each of the coils 20 with an AC voltage and also determine an induced AC voltage in each of the coils 20. Based on these measurements, the evaluation unit 22 can determine a relative angle of rotation between the stator element 12 and the rotor element 14.
  • the rotor element 14 comprises one or more induction elements 24, which lie opposite the coils 20 in the axial direction.
  • the induction elements 24 can, as in FIG Fig. 1 shown, be arranged on a further circuit board which is fixed to the shaft 16. It is also possible for the induction element (s) 24 to be produced by machining one end of the shaft 16.
  • the evaluation unit 22 supplies one or more of the coils 20 with AC voltage, they generate a magnetic field, which in turn induces eddy currents in the induction element 24, which is made of an electrically conductive material. These eddy currents in turn generate magnetic fields that interact with the coils 20 and change the inductance of the coils 20. Based on these changed inductances, the evaluation unit 22 can determine the angle of rotation.
  • the Fig. 2 shows a rotation angle sensor whose coils (a first coil 20a, a second coil 20b, a third coil 20c) only cover an angular range around the axis A smaller than 360 ° (here about 120 °). For better clarity, each of the coils does not cover the entire angular range.
  • the three coils 20a, 20b, 20c are connected to the evaluation unit 22 at first connections 26 and second connections 28 and are cyclically supplied with an AC voltage by the evaluation unit 22 there. For example, within a cycle of three steps, first the first coil 20a, then the second coil 20b and then the third coil 20c are supplied with an alternating voltage, the other two coils remaining deenergized. Due to the position of the induction element 24, which is dependent on the angle of rotation (not shown here), the three coils 20a, 20b, 20c couple with the induction element 24 to a different extent depending on the angle of rotation and thus also with one another. Thus, depending on the angle of rotation, alternating voltages are induced in the non-energized coils, the magnitude and / or phase of which can be determined. For example, an alternating current or an amount and / or a phase of this alternating current can be measured in these coils, from which the voltage or its amount and / or phase can be derived.
  • the evaluation unit 22 can first supply the first coil 20a and the second coil 20b, then the second coil 20b and the third coil 20c and then the third coil 20b and the first coil 20a with two AC voltages within a cycle of three steps. An alternating voltage is then induced in the remaining coil, from the amount and / or phase of which the angle of rotation can then be determined.
  • the distance of the induction element 24 or of the rotor element 14 from the sensor element 12 in the axial direction can also be determined from the determined phases and / or amounts of the induced AC voltage (s), for example by averaging over several cycles.
  • the Fig. 2 further shows that the three coils 20a, 20b, 20c are designed as planar coils with a plurality of turns 34 lying in one plane.
  • the coils 20a, 20b, 20c are arranged offset on the stator element 12 in the circumferential direction. They overlap at least partially along the circumferential direction, as viewed or viewed from the axial direction.
  • the 3A, 3B and 3C schematically show possible coil layouts for the three coils 20a, 20b, 20c.
  • the coil 20a from the Figure 3A each includes a first turn 34a and a second turn 34b. Both turns 34a, 34b are of the same size or run around the same area. The two turns are offset from one another along the circumferential direction.
  • the coils 20b and 20c from the Figure 3B and 3C each include two first turns 34a and two second turns 34b.
  • the second turn 34b is arranged in the circumferential direction between the first turns 34a.
  • the first turns 34a are different in size and / or smaller than the second turn 34b.
  • the sum of the areas enclosed by the first turns 34a corresponds to the area enclosed by the second turn 34b.
  • the in the 3A, 3B and 3C Coils 20a, 20b, 20c shown can be installed in a rotation angle sensor so that they completely overlap.
  • Each of the coils 20a, 20b, 20 is supplied with an individual AC voltage V1, V2, V3 supplies, as it is in the Fig. 2 is shown.
  • the turns 34a, 34b of the coils 20b, 20c which run around areas of different sizes, are offset with respect to the turns 34a, 34b of the coil 20a, so that one turn 34a, 34b of a coil 20a, 20b, 20c is only ever one partially covered with a turn 34a, 34b of another coil.
  • a maximum angular resolution can be achieved for the angular range covered by the three coils 20a, 20b, 20c.
  • Each of the coils 20a, 20b, 20c comprises opposing turns, which can be divided into first turns 34a with a first orientation and second turns 34b with a second, opposite orientation.
  • the turns 34a, 34b of each coil are arranged in succession in the circumferential direction around the axis A, so that a chain of turns with alternating orientation results.
  • the first turns 34a and the second turns 34b each have the same area, so that a homogeneous (interference) magnetic field through each of the coils 20a, 20b, 20c does indeed produce a current in the respective turn 34a, 34b, the individual currents however, cancel each other out in a coil 20a, 20b, 20c.
  • Fig. 4 shows an induction element 24 and, for reasons of clarity, only one coil, the first coil 20a. However, the following statements can also apply to the second coil 20b and the third coil 20c.
  • the induction element 24 is approximately as large as a turn, ie covered from an axial point of view or in a projection along the axial direction approximately the same area along the circumference.
  • Each of the turns 34a, 34b generates a magnetic field, which in turn generates eddy currents in the induction element 24, which in turn generate a magnetic field, which generate currents in the respective turn and thus the inductance of the respective turn 34a, 34b and thus the total inductance of the coil 20a, 20b, 20c change.
  • the inductance of the coils 20a, 20b, 20c thus changes depending on the angular position of the rotor element 14 with the induction element. Since the first turns 34a and the second turns 34b of the different coils 20a, 20b, 20c are arranged offset from one another, the induction element 24 additionally changes the inductances of each coil 20a, 20b, 20c differently, so that there is a good angular resolution of the angle of rotation sensor 10.
  • the 5 to 7 show representations analogous to 2 to 4 . Unless otherwise described, the explanations for the 2 to 4 corresponding.
  • a rotation angle sensor 10 is shown, the first coil 20a, second coil 20b and third coil 20c of which completely surround the sensor element 12.
  • the coils 20a, 20b, 20c are constructed identically. Just like with the Fig. 2 the coils 20a, 20b, 20c on the stator element 12 are arranged offset to one another.
  • the 6 turns 34a, 34b of the coils 20a, 20b, 20c each run around the same area in order to compensate for external interference fields.
  • the number of turns is not limited to 6, but should be an even number to compensate for interference fields.
  • the periodicity of the sensor results from the number of turns and the opening angle.
  • a rotation angle sensor 10 is shown, the first coil 20a, second coil 20b and third coil 20c of which completely surround the sensor element 12.
  • the coils 20a, 20b, 20c are constructed identically. Just like with the Fig. 2 the coils 20a, 20b, 20c on the stator element 12 are arranged offset to one another.
  • the 6 turns 34a, 34b of the coils 20a, 20b, 20c each run around the same area in order to compensate for external interference fields.
  • the number of turns is not limited to 6, but should be an even number to compensate for interference fields.
  • the periodicity of the sensor results from the number of turns and the opening angle.
  • the Fig. 7 shows that three induction elements 24 can also be arranged on the rotor element 14.
  • only the first coil 20 and the induction element 24 are shown as examples in the figure in order to make the figure clearer and to illustrate the interaction of the induction element 24 and the coils 20a, 20b, 20c.
  • the second coil 20b and the third coil 20c are arranged rotated relative to the first coil 20a.
  • the Figure 8A shows a diagram with an energization cycle 36 for the coils 20a, 20b, 20c of the rotation angle sensor from FIG Fig. 2 or 5 .
  • the cycle 36 consists of three equally long steps 38 (on the order of one millisecond). In general, the number of steps 38 is equal to the number of coils.
  • the first coil 20a is supplied with AC voltage, i.e. serves as a transmitter or excitation coil.
  • the other two coils (second coil 20b and third coil 20c) are not energized, but the AC voltage generated in them is determined. That is, the other two coils 20b, 20c serve as receiving coils.
  • the roles of the coils are interchanged cyclically: in the second step 38b, the second coil 20b serves as a transmitting coil and the first coil 20a and the third coil 20c serve as receiving coils. In the third step 38c, the third coil 20c serves as a transmitting coil and the first coil 20a and the second coil 20b serve as receiving coils. The next cycle then begins again with the first step 38, 38a.
  • the coils 20a, 20b, 20c as planar coils with opposing turns 34, for example when the first coil 20a is acted upon by an alternating voltage (without induction element 24), alternating electromagnetic fields of different signs are generated in the turns 34. Since the enclosed areas of right-hand and left-hand turns 34 are the same size, the fields cancel each other out and no voltage is induced in the other coils (ie here the second coil 20b and the third coil 20c): is now caused by the induction element 24 a part of the transmitter coil area is shielded, the subfields no longer cancel each other out and a voltage is induced in the other two coils (second coil 20b, third column 20c).
  • the cyclical interchanging of the transmitting and receiving coils enables the angle of rotation to be recalculated and a varying distance between the stator element 12 and the rotor element 14 to be compensated in the axial direction, for example due to mechanical tolerances.
  • the Figure 8B shows a diagram with a further energization cycle 36 for the coils 20a, 20b, 20c of the rotation angle sensor from FIG Fig. 2 or 5 , in which two coils are energized per step 38.
  • the first coil 20a and the second coil 20b serve as transmit coils and the third coil 20c serves as receive coil.
  • the coils first coil 20a and the third coil 20c serve as transmit coils and the second coil 20b serves as receive coil.
  • the second coil 20b and the third coil 20c serve as transmitting coils and the first coil 20a serves as a receiving coil.
  • the current-carrying transmitter coils can be supplied with two different AC voltages with different frequencies, which, depending on the angle of rotation, induce an AC voltage in the receiver coil that has two components with the two frequencies. These components can be separated from one another, for example, using Fourier analysis and the amount and / or the phase of the component voltages can be determined therefrom.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
  • Measurement Of Length, Angles, Or The Like Using Electric Or Magnetic Means (AREA)

Description

Gebiet der ErfindungField of the Invention

Die Erfindung betrifft einen Drehwinkelsensor, mit dem beispielsweise ein Drehwinkel zwischen einer Welle und einem weiteren Bauteil bestimmt werden kann.The invention relates to a rotation angle sensor with which, for example, a rotation angle between a shaft and a further component can be determined.

Stand der TechnikState of the art

Um Drehwinkel zu messen, sind beispielsweise Drehwinkelsensoren bekannt, bei denen ein Magnet über einen entsprechenden Magnetfeldsensor gedreht wird. Die Messung des Magnetfeldvektors erlaubt dann einen Rückschluss auf den Drehwinkel. Derartige Sensoren reagieren auch auf externe Magnetfelder, die beispielsweise durch einen Stromfluss von benachbart angeordneten Stromkabeln verursacht werden und können sehr störempfindlich sein.In order to measure rotation angles, rotation angle sensors are known, for example, in which a magnet is rotated via a corresponding magnetic field sensor. The measurement of the magnetic field vector then allows a conclusion to be drawn about the angle of rotation. Such sensors also react to external magnetic fields, which are caused, for example, by a current flow from adjacent power cables and can be very sensitive to interference.

Ein weiterer Typ Drehwinkelsensor nutzt einen Wirbelstromeffekt aus. Dabei wird beispielsweise ein metallisches Target über Sensorspulen bewegt, die mit einer Wechselspannung versorgt werden und in dem Target einen Wirbelstrom induzieren. Dies führt zur Reduzierung der Induktivitäten der Sensorspulen und erlaubt, über eine Frequenzänderung auf den Drehwinkel zu schließen. Beispielsweise sind die Spulen Bestandteil eines Schwingkreises, dessen Resonanzfrequenz sich bei einer Veränderung der Induktivität verschiebt. Dieser Typ von Drehwinkelsensor kann jedoch eine hohe Querempfindlichkeit gegenüber Einbautoleranzen (vor allem ein Verkippen des Targets) aufweisen. Auch kann die erzeugte Frequenz durch externe elektromagnetische Felder gestört werden (Injection Locking), da üblicherweise mit Frequenzen im Bereich von einigen zehn MHz gearbeitet wird.Another type of rotation angle sensor uses an eddy current effect. For example, a metallic target is moved over sensor coils that are supplied with an AC voltage and induce an eddy current in the target. This leads to a reduction in the inductance of the sensor coils and allows the rotation angle to be inferred by changing the frequency. For example, the coils are part of an oscillating circuit, the resonance frequency of which shifts when the inductance changes. However, this type of rotation angle sensor can have a high cross sensitivity to installation tolerances (especially tilting of the target). The generated frequency can also be disturbed by external electromagnetic fields (injection locking), since frequencies in the range of a few tens of MHz are usually used.

Aus den Druckschriften US 7 191 759 B2 , US 7 276 897 B2 , EP 0 909 955 B1 , US 6 236 199 B1 und EP 0 182 085 B1 sind außerdem Drehwinkelsensoren auf Basis von gekoppelten Spulen bekannt. In diesen Druckschriften wird in einer einzigen Erregerspule ein elektromagnetisches Wechselfeld aufgebaut, das in mehrere Empfangsspulen koppelt und dort jeweils eine Spannung induziert. Für die Messung des Drehwinkels wird ein drehbar gelagertes, elektrisch leitfähiges Target verwendet, das in Abhängigkeit seiner Winkelposition die induktive Kopplung zwischen der Erregerspule und den Empfangsspulen beeinflusst.From the pamphlets US 7,191,759 B2 , US 7 276 897 B2 , EP 0 909 955 B1 , US 6 236 199 B1 and EP 0 182 085 B1 rotation angle sensors are also on Base of coupled coils known. In these publications, an alternating electromagnetic field is built up in a single excitation coil, which couples into several receiving coils and induces a voltage there in each case. For the measurement of the angle of rotation, a rotatably mounted, electrically conductive target is used which, depending on its angular position, influences the inductive coupling between the excitation coil and the receiving coils.

Aus der Druckschrift EP 1 975 570 A2 ist ein Drehwinkelsensor bekannt, dessen Statorelement mehrere Spulen umfasst. Ein bezüglich des Statorelements drehbar gelagertes Rotorelement koppelt je nach Drehwinkel unterschiedlich stark mit diesen Spulen. Zur Bestimmung des Drehwinkels versorgt eine Auswerteeinheit die Spulen der Reihe nach mit Wechselstrom und ermittelt den Betrag der jeweils durch die Stromeinspeisung entstehenden Spannung in der bestromten Spule.From the publication EP 1 975 570 A2 a rotation angle sensor is known, the stator element of which comprises several coils. A rotor element which is rotatably mounted with respect to the stator element couples with these coils to different degrees depending on the angle of rotation. To determine the angle of rotation, an evaluation unit supplies the coils with alternating current in succession and determines the amount of the voltage in the energized coil that arises from the current feed.

Offenbarung der ErfindungDisclosure of the invention Vorteile der ErfindungAdvantages of the invention

Ausführungsformen der vorliegenden Erfindung können in vorteilhafter Weise ermöglichen, einen Drehwinkel zwischen einer Welle und einem weiteren Bauteil auf eine Art und Weise zu bestimmen, so dass Störungen von außen und/oder Bauteiltoleranzen nur wenig Einfluss auf eine Messung haben.Embodiments of the present invention can advantageously make it possible to determine an angle of rotation between a shaft and another component in such a way that interference from outside and / or component tolerances have little influence on a measurement.

Die Erfindung betrifft einen Drehwinkelsensor, der insbesondere in einer Umgebung mit hohen elektromagnetischen Störfeldern eingesetzt werden kann. Beispielsweise kann der Drehwinkelsensor im Motorraum oder in der Nähe des Motorraums eines Fahrzeugs verwendet werden, beispielsweise zur Bestimmung einer Position einer Drosselklappe, einer Rotorposition eines BLDC-Motors, einer Position eines Fahrpedals oder einer Position einer Nockenwelle.The invention relates to a rotation angle sensor that can be used in particular in an environment with high electromagnetic interference fields. For example, the rotation angle sensor can be used in the engine compartment or in the vicinity of the engine compartment of a vehicle, for example for determining a position of a throttle valve, a rotor position of a BLDC engine, a position of an accelerator pedal or a position of a camshaft.

Gemäß einer Ausführungsform der Erfindung umfasst der Drehwinkelsensor ein Statorelement mit wenigstens drei Spulen, ein bezüglich des Statorelements drehbar gelagertes Rotorelement, das dazu ausgeführt ist, abhängig von einem Drehwinkel unterschiedlich stark mit jeder der wenigstens drei Spulen induktiv zu koppeln bzw. mit einem Induktionselement die drei Spulen unterschiedlich zu überdecken; und eine Auswerteeinheit zum Bestimmen des Drehwinkels zwischen dem Rotorelement und dem Statorelement. Das Statorelement, das auch die Auswerteeinheit (beispielsweise ein IC, also ein integrierter Schaltkreis, oder ein ASIC, also ein anwenderspezifischer integrierter Schaltkreis) tragen kann, kann beispielsweise gegenüber dem Ende einer Welle angeordnet sein, auf dem das Rotorelement befestigt ist. Das Rotorelement kann ein Target bzw. Induktionselement tragen, das mit der Welle mitbewegt wird, die Spulen überdeckt und dadurch die Induktivität der Spulen verändert.According to one embodiment of the invention, the angle of rotation sensor comprises a stator element with at least three coils, a rotor element which is rotatably mounted with respect to the stator element and which is designed to couple inductively with each of the at least three coils depending on an angle of rotation, and the three with an induction element Cover coils differently; and an evaluation unit for determining the angle of rotation between the rotor element and the stator element. The stator element, which can also carry the evaluation unit (for example an IC, that is to say an integrated circuit, or an ASIC, that is to say a user-specific integrated circuit), can for example be arranged opposite the end of a shaft on which the rotor element is fastened. The rotor element can carry a target or induction element which is moved along with the shaft, covers the coils and thereby changes the inductance of the coils.

Die Auswerteeinheit ist dabei dazu ausgeführt, die Spulen zyklisch der Reihe nach mit Wechselspannung zu versorgen, so dass jeweils ein erster Teil der Spulen mit Wechselspannung versorgt wird und ein verbleibender Teil durch die Auswerteeinheit unbestromt ist. In diesem Zusammenhang bedeutet "unbestromt", dass die betreffende Spule nicht direkt von der Auswerteeinheit mit Wechselspannung versorgt wird. Da alle Spulen des Drehwinkelsensors abhängig vom Drehwinkel unterschiedlich stark mit dem Rotor induktiv koppeln, ergibt sich auch eine vom Drehwinkel abhängige Kopplung zwischen den Spulen. Werden eine oder mehrere Spulen bestromt (mit Wechselspannung versorgt), erzeugt dies in den anderen, unbestromten Spulen über die induktive Kopplung eine induzierte Wechselspannung, die somit auch vom Drehwinkel abhängig ist. In einer, zwei oder mehr der bestromten Spulen wird ein elektromagnetisches Wechselfeld erzeugt, das, je nach Position des Rotorelements, in den anderen Spulen oder in der anderen Spule eine Spannung induziert, die einen Rückschluss auf den Drehwinkel erlaubt.The evaluation unit is designed to supply the coils cyclically with alternating voltage, so that in each case a first part of the coils is supplied with alternating voltage and a remaining part is de-energized by the evaluation unit. In this context, "de-energized" means that the coil in question is not supplied with AC voltage directly by the evaluation unit. Since all coils of the rotation angle sensor couple inductively with the rotor depending on the angle of rotation, there is also a coupling between the coils which is dependent on the angle of rotation. If one or more coils are energized (supplied with AC voltage), this generates an induced AC voltage in the other, non-energized coils via the inductive coupling, which therefore also depends on the angle of rotation. An alternating electromagnetic field is generated in one, two or more of the energized coils, which, depending on the position of the rotor element, induces a voltage in the other coils or in the other coil, which allows a conclusion to be drawn about the angle of rotation.

Weiter ist die Auswerteeinheit dazu ausgeführt, zyklisch der Reihe nach bei einer oder mehrerer unbestromter Spulen jeweils eine Phase und/oder einen Betrag einer induzierten Wechselspannung zu ermitteln und daraus den Drehwinkel zu bestimmen. Beispielsweise kann die Auswerteeinheit die induzierte Spannung in den nicht mit Wechselspannung versorgten Spulen messen. Die Wechselspannung kann beispielsweise eine Frequenz unter einem MHz sein, was ein Injection Locking vermeiden kann.Furthermore, the evaluation unit is designed to cyclically determine a phase and / or an amount of an induced alternating voltage in each case in the case of one or more non-energized coils and to determine the angle of rotation therefrom. For example, the evaluation unit can measure the induced voltage in the coils that are not supplied with AC voltage. The AC voltage can be a frequency below one MHz, for example, which can avoid injection locking.

Eine mit Wechselspannung versorgte Spule kann als Sendespule, die unbestromten Spulen als Empfangsspulen aufgefasst werden. Bei dem Drehwinkelsensor werden nicht immer die gleichen Spulen mit Wechselspannung versorgt und die induzierten Wechselspannungen nicht immer bei den gleichen Spulen ermittelt, sondern die Spulen fungieren zyklisch der Reihe nach als Sende- oder Empfangsspule. Damit können innerhalb eines Zyklus (der die Größenordnung einer Millisekunde aufweist), gesonderte Messungen durchgeführt werden. Ist N die Anzahl der Spulen und M<N die Anzahl der bestromten Spulen, können pro Zyklus N*(N-M) unterschiedliche Messungen von Betrag und/oder Phase durchgeführt werden. Bei N=3 sind dies bei einer bestromten Spule (M=1) 6 Messungen und bei zwei bestromten Spulen (M=2) 3 Messungen. Dies kann die Drehwinkelbestimmung erheblich genauer machen, als wenn immer nur die gleichen Spulen bestromt werden würden. Gemäß einer Ausführungsform der Erfindung ist die Auswerteeinheit dazu ausgeführt, dass wenigstens zwei Spulen aus dem ersten Teil der Spulen gleichzeitig mit unterschiedlichen Wechselspannungen versorgt werden. Beispielsweise können Wechselspannungen, mit denen die Spulen aus dem ersten Teil der Spulen versorgt werden, unterschiedliche Frequenz, unterschiedliche Phase und/oder unterschiedlichen Betrag aufweisen.A coil supplied with AC voltage can be regarded as a transmitter coil, and the non-energized coils as receiver coils. With the rotation angle sensor, the same coils are not always supplied with alternating voltage and the induced alternating voltages are not always determined with the same coils, but rather the coils function cyclically in sequence as a transmitting or receiving coil. This means that separate measurements can be carried out within a cycle (which is of the order of a millisecond). If N is the number of coils and M <N is the number of energized coils, different measurements of magnitude and / or phase can be carried out per cycle N * (NM). With N = 3, this is 6 measurements for one energized coil (M = 1) and 3 measurements for two energized coils (M = 2). This can make the angle of rotation determination considerably more precise than if only the same coils were always energized. According to one embodiment of the invention, the evaluation unit is designed such that at least two coils from the first part of the coils are simultaneously supplied with different AC voltages. For example, alternating voltages with which the coils are supplied from the first part of the coils can have different frequencies, different phases and / or different amounts.

Die Wechselspannungen können beispielsweise unterschiedliche Frequenzen aufweisen. In einer unbestromten Spule wird dann eine Wechselspannung induziert, die Komponenten beider Frequenzen aufweist, deren Stärke vom Drehwinkel abhängt. Durch eine Fourier-Analyse der induzierten Wechselspannung können diese Komponenten ermittelt und der Drehwinkel bestimmt werden.The AC voltages can have different frequencies, for example. An AC voltage is then induced in an unpowered coil, which has components of both frequencies, the strength of which depends on the angle of rotation. A Fourier analysis of the induced AC voltage enables these components to be determined and the angle of rotation to be determined.

Bei gleicher Frequenz können sich die Wechselspannungen in Betrag und/oder Phase unterscheiden. Wechselspannungen unterschiedlicher Phase induzieren in einer unbestromten Spule eine Wechselspannung, deren Betrag und Phasenverschiebung gegenüber den erzeugten Wechselspannungen abhängig vom Drehwinkel ist.At the same frequency, the AC voltages can differ in magnitude and / or phase. AC voltages of different phases induce an AC voltage in an unpowered coil, the magnitude and phase shift of which in relation to the generated AC voltages is dependent on the angle of rotation.

Es ist aber auch möglich, dass zwei oder mehr Spulen mit der gleichen Wechselspannung versorgt werden.However, it is also possible for two or more coils to be supplied with the same AC voltage.

Gemäß einer Ausführungsform der Erfindung wird lediglich eine Spule mit Wechselspannung versorgt und wird bei den verbleibenden Spulen jeweils ein Betrag und/oder eine Phase einer induzierten Wechselspannung ermittelt. Wenn der Sensor insgesamt drei Spulen aufweist, können so zyklisch eine Spule bestromt werden und bei den zwei anderen Spulen die Spannung ermittelt bzw. gemessen werden.According to one embodiment of the invention, only one coil is supplied with AC voltage and an amount and / or a phase of an induced AC voltage is determined for the remaining coils. If the sensor has a total of three coils, one coil can be energized cyclically and the voltage of the two other coils can be determined or measured.

Gemäß einer Ausführungsform der Erfindung wird bei lediglich einer Spule die induzierte Wechselspannung ermittelt und werden die verbleibenden Spulen mit Wechselspannung versorgt. Wenn der Sensor insgesamt drei Spulen aufweist, können so zyklisch zwei Spulen gleichzeitig bestromt werden und bei der dritten Spule die Spannung gemessen werden.According to one embodiment of the invention, the induced AC voltage is determined with only one coil and the remaining coils are supplied with AC voltage. If the sensor has a total of three coils, two coils can be cyclically energized simultaneously and the voltage can be measured on the third coil.

Gemäß einer Ausführungsform der Erfindung ist die Auswerteeinheit dazu ausgeführt, aus dem Betrag und/oder der Phase des oder der ermittelten Wechselströme oder aus dem Betrag und/oder der Phase der induzierten Wechselspannung einen axialen Abstand zwischen dem Statorelement und dem Rotorelement zu bestimmen. Neben dem aktuellen Drehwinkel kann auch der Abstand der beiden Bestandteile (beispielsweise durch eine Mittelung über die Zeit) bestimmt werden, um so systematische Fehler bei der Winkelbestimmung zu reduzieren.According to one embodiment of the invention, the evaluation unit is designed to use the amount and / or the phase of the one or more determined AC currents or from the amount and / or the phase of the induced AC voltage to determine an axial distance between the stator element and the rotor element. In addition to the current angle of rotation, the distance between the two components can also be determined (for example by averaging over time) in order to reduce systematic errors in the angle determination.

Gemäß einer Ausführungsform der Erfindung sind die Spulen planare Spulen. Unter einer planaren Spule ist dabei eine Spule zu verstehen, deren Wicklungen bzw. Windungen alle im Wesentlichen in einer Ebene liegen. Eine planare Spule kann beispielsweise nur 1% der Höhe ihres Durchmessers aufweisen.According to one embodiment of the invention, the coils are planar coils. A planar coil is to be understood as a coil whose windings or windings all lie essentially in one plane. For example, a planar coil can have only 1% of the height of its diameter.

Gemäß einer Ausführungsform der Erfindung sind die Spulen auf und/oder in einer Leiterplatte angeordnet. Beispielsweise können die Wicklungen bzw. Windungen alle auf den beiden Seiten einer Leiterplatte aufgebracht sein. Bei einer Leiterplatte mit mehreren Ebenen können die Wicklungen bzw. Windungen auch innerhalb der Leiterplatte verlaufen. Die Leiterplatte kann auch Bauteile und/oder ein IC für die Auswerteeinheit tragen.According to one embodiment of the invention, the coils are arranged on and / or in a printed circuit board. For example, the windings or turns can all be applied to the two sides of a printed circuit board. In the case of a printed circuit board with several levels, the windings or windings can also run inside the printed circuit board. The circuit board can also carry components and / or an IC for the evaluation unit.

Gemäß einer Ausführungsform der Erfindung überdecken sich die Spulen gegenseitig in einer axialen Richtung zumindest teilweise. Die Spulen können im Statorelement im Wesentlichen in einer Ebene (beispielsweise auf oder innerhalb einer Leiterplatte) angeordnet sein, wobei sie in Umfangsrichtung gegenübereinander verschoben sind. Jeder der Spulen kann im Wesentlichen in einer Ebene orthogonal zu der axialen Richtung angeordnet sein. Dass sich zwei Spulen in axiale Richtung wenigstens teilweise überdecken, kann so verstanden werden, dass sich die beiden Spulen, wenn sie in der axialen Richtung betrachtet werden, zumindest teilweise überdecken. Dies kann auch so verstanden werden, dass die beiden Spulen bei Projektion in axiale Richtung auf eine Ebene orthogonal zur axialen Richtung sich zumindest teilweise überdecken.According to one embodiment of the invention, the coils overlap one another at least partially in an axial direction. The coils can be arranged in the stator element essentially in one plane (for example on or within a printed circuit board), wherein they are displaced relative to one another in the circumferential direction. Each of the coils can be arranged substantially in a plane orthogonal to the axial direction. The fact that two coils overlap at least partially in the axial direction can be understood to mean that the two coils overlap at least partially when viewed in the axial direction. This can also be understood to mean that the two coils at least partially overlap when projected in the axial direction onto a plane orthogonal to the axial direction.

Gemäß einer Ausführungsform der Erfindung weist jede der Spulen wenigstens zwei in Umfangsrichtung aufeinander abfolgende Windungen bzw. Segmente auf. Die Spulen können aus axialer Sicht (d.h. mit Blickrichtung in Richtung der Drehachse des Rotorelements) mehrere Schleifen aufweisen, die beispielsweise in Umfangsrichtung aufeinanderfolgend angeordnet sind. Eine Windung bzw. ein Segment kann dabei eine oder mehrere Leiterschleifen der Spule umfassen, die eine von der Spule umlaufene Fläche ganz umrunden. Die Windungen können in einer Ebene verlaufen, die im Wesentlichen orthogonal zur Drehachse des Rotorelements verläuft.According to one embodiment of the invention, each of the coils has at least two successive turns or segments in the circumferential direction. From an axial point of view (ie looking in the direction of the axis of rotation of the rotor element), the coils can have a plurality of loops which are arranged one after the other in the circumferential direction, for example. A turn or a segment can comprise one or more conductor loops of the coil, which completely surround a surface encircled by the coil. The turns can be in run a plane that is substantially orthogonal to the axis of rotation of the rotor element.

Gemäß einer Ausführungsform der Erfindung weist jede der Spulen wenigstens eine erste Windung und wenigstens eine zweite Windung auf, wobei die wenigstens eine erste Windung und die wenigstens eine zweite Windung gegenläufig orientiert sind. Wenn eine Spule mit einer Wechselspannung versorgt wird, erzeugt sie ein elektromagnetisches Wechselfeld, das bei den ersten Windungen (im Wesentlichen) in eine erste Richtung und bei den zweiten Windungen (im Wesentlichen) in eine zweite, entgegengesetzte Richtung orientiert ist. Die erste und zweite Richtung können im Wesentlichen parallel zur Drehachse des Rotorelements verlaufen.According to one embodiment of the invention, each of the coils has at least one first turn and at least one second turn, the at least one first turn and the at least one second turn being oriented in opposite directions. When a coil is supplied with an alternating voltage, it generates an alternating electromagnetic field which is (in the first turn) oriented in a first direction and in the second turn (essentially) in a second, opposite direction. The first and second directions can run essentially parallel to the axis of rotation of the rotor element.

Die von der Spule erzeugten Wechselfelder induzieren Ströme im Rotorelement (abhängig von der Stellung des Rotorelements), die wiederum Wechselfelder erzeugen, die mit der Spule bzw. deren Windungen wechselwirken und somit die Induktivität verändern.The alternating fields generated by the coil induce currents in the rotor element (depending on the position of the rotor element), which in turn generate alternating fields which interact with the coil or its turns and thus change the inductance.

Ein externes elektromagnetisches Feld, das auf die Spule wirkt und das im Wesentlichen homogen durch zwei entgegengesetzt orientierte Windungen verläuft, erzeugt Ströme in der Spule, die sich (bei gleich großer Induktivität der Windungen) im Wesentlichen aufheben. Auf diese Weise können externe Störfelder ausgeglichen werden.An external electromagnetic field, which acts on the coil and which runs essentially homogeneously through two oppositely oriented turns, generates currents in the coil which essentially cancel each other out (with the same inductance of the turns). In this way, external interference fields can be compensated.

Gemäß einer Ausführungsform der Erfindung sind erste Windungen und zweite Windungen einer Spule in Umfangsrichtung des Statorelements abwechselnd zueinander angeordnet. Auf diese Weise entsteht pro Spule eine Kette von Windungen, die aufeinander abfolgend gegenläufig orientiert sind.According to one embodiment of the invention, first turns and second turns of a coil are arranged alternately to one another in the circumferential direction of the stator element. In this way, a chain of turns is created for each coil, which are successively oriented in opposite directions.

Gemäß einer Ausführungsform der Erfindung ist die von den ersten Windungen umlaufene Fläche gleich einer von den zweiten Windungen umlaufene Fläche. Wenn jede der Windungen die gleiche Anzahl an Leiterschleifen aufweist, führt dies dazu, dass im Wesentlichen homogene Störfelder bereits von der Spule unterdrückt werden. Dabei ist möglich, dass eine oder mehrere Spulen unterschiedlich große Windungen aufweisen.According to one embodiment of the invention, the area encircled by the first turns is equal to an area encircled by the second turns. If each of the turns has the same number of conductor loops, this means that essentially homogeneous interference fields are already suppressed by the coil. It is possible that one or more coils have turns of different sizes.

Gemäß einer Ausführungsform der Erfindung umlaufen Windungen einer Spule unterschiedlich große Flächen. Bei mehreren Windungen pro Spule ist es auch möglich, dass die Spulen unterschiedlich große Windungen aufweisen, so dass sich zwar die Spulen überdecken, die Windungen jedoch zueinander versetzt angeordnet sind.According to one embodiment of the invention, turns of a coil run around surfaces of different sizes. With several turns per coil it is also possible that the coils have turns of different sizes, so that although the coils overlap, the turns are arranged offset to one another.

Gemäß einer Ausführungsform der Erfindung sind Windungen der Spulen zueinander versetzt angeordnet. Dadurch überdeckt das Rotorelement bzw. ein darauf befindliches Induktionselement die sich zumindest teilweise überdeckenden Windungen verschiedener Spulen unterschiedlich stark, so dass sich unterschiedliche Induktivitäten der betreffenden Spulen ergeben.According to one embodiment of the invention, turns of the coils are arranged offset from one another. As a result, the rotor element or an induction element located thereon covers the at least partially overlapping turns of different coils to different degrees, so that different inductances of the coils in question result.

Gemäß einer Ausführungsform der Erfindung sind die Spulen in lediglich einem Winkelbereich des Statorelements angeordnet. Beispielsweise können die Spulen um den Mittelpunkt der Drehachse des Rotorelement um a/N (N Zahl der Spulen, a = Sensierbereich des Sensors, <= 360°) zueinander versetzt angeordnet sein. Es ist auch möglich, dass sich die Spulen vollständig überdecken und lediglich ihre Windungen zueinander versetzt angeordnet sind.According to one embodiment of the invention, the coils are arranged in only one angular range of the stator element. For example, the coils can be arranged offset from one another around the center point of the axis of rotation of the rotor element by a / N (N number of coils, a = sensing range of the sensor, <= 360 °). It is also possible for the coils to overlap completely and only their turns to be offset from one another.

Gemäß einer Ausführungsform der Erfindung umrundet jede der Spulen das Statorelement komplett. Alle Spulen können entweder entlang eines Kreissegmentbogens (< 360°) oder eines vollen Kreisbogens (= 360°) um das Statorelement angeordnet sein. Es ist zu verstehen, dass in diesem Fall eine Fläche, die von der Spule umlaufen wird, nicht die Achse bzw. das Zentrum des Statorelements überdecken muss. D.h., die Spule kann lediglich in einem Randbereich des Statorelements angeordnet sein. Beispielsweise können die Spulen entlang eines Kreisbogensegments (von etwa 120°) angeordnet sein, wobei sich auf dem komplementären Kreisbogensegment (beispielsweise die restlichen 240°) keine Spulen befinden.According to one embodiment of the invention, each of the coils completely surrounds the stator element. All coils can either be arranged along a circular segment arc (<360 °) or a full circular arc (= 360 °) around the stator element. It is to be understood that in this case a surface which is circulated by the coil does not have to cover the axis or the center of the stator element. That is, the coil can only be arranged in an edge region of the stator element. For example, the coils can be arranged along a circular arc segment (of approximately 120 °), there being no coils on the complementary circular arc segment (for example the remaining 240 °).

Gemäß einer Ausführungsform der Erfindung weist das Rotorelement wenigstens ein Induktionselement bzw. Target auf, das in einem Winkelbereich des Rotorelements angeordnet ist. Mit anderem Worten umläuft das Induktionselement das Rotorelement nur teilweise. Genauso wie die Spulen kann das Induktionselement lediglich in einem Randbereich des Rotorelements vorgesehen sein. Das Induktionselement kann ein metallisches Target sein, das auf dem Rotorelement drehbar in axialer Richtung dem Statorelement gegenüberliegend angeordnet ist. Das Induktionselement kann aus Vollmaterial oder aus einem Leiter auf einer Leiterplatte hergestellt sein. Das Induktionselement kann auch durch Aussparungen in einem Vollmaterial wie beispielsweise Fräsungen oder als Stanzteil bereitgestellt werden.According to one embodiment of the invention, the rotor element has at least one induction element or target, which is arranged in an angular range of the rotor element. In other words, the induction element only partially surrounds the rotor element. Just like the coils, the induction element can only be provided in an edge region of the rotor element. The induction element can be a metallic target, which is rotatably arranged on the rotor element in the axial direction opposite the stator element. The induction element can be made from solid material or from a conductor on a printed circuit board. The Induction element can also be provided by recesses in a solid material such as millings or as a stamped part.

Gemäß einer Ausführungsform der Erfindung überdeckt das Induktionselement in axialer Richtung im Wesentlichen lediglich eine Windung einer Spule. Das Induktionselement und die Windung der Spule können im Wesentlichen in einer Ebene orthogonal zu der axialen Richtung angeordnet sein. Dass sich das Induktionselement und die Windung in axiale Richtung wenigstens teilweise überdecken, kann so verstanden werden, dass sie sich, wenn sie in der axialen Richtung betrachtet werden, zumindest teilweise überdecken. Dies kann auch so verstanden werden, dass sie sich bei Projektion in axiale Richtung auf eine Ebene orthogonal zur axialen Richtung zumindest teilweise überdecken.According to one embodiment of the invention, the induction element essentially only covers one turn of a coil in the axial direction. The induction element and the winding of the coil can be arranged essentially in a plane orthogonal to the axial direction. That the induction element and the winding overlap at least partially in the axial direction can be understood to mean that they overlap at least partially when viewed in the axial direction. This can also be understood to mean that they overlap at least partially when projected in the axial direction onto a plane orthogonal to the axial direction.

Auf diese Weise ändert das Induktionselement nur die Induktivität höchstens einer Windung und der Drehsensor erhält eine maximale Auflösung. Es ist auch möglich, dass das Rotorelement mehrere Induktionselemente umfasst, die beispielsweise im gleichen Abstand in Umfangsrichtung um die Drehachse angeordnet sind.In this way, the induction element changes only the inductance of at most one turn and the rotation sensor receives a maximum resolution. It is also possible for the rotor element to comprise a plurality of induction elements which are arranged, for example, at the same distance in the circumferential direction around the axis of rotation.

Kurze Beschreibung der ZeichnungenBrief description of the drawings

Nachfolgend werden Ausführungsformen der Erfindung unter Bezugnahme auf die beigefügten Zeichnungen beschrieben, wobei weder die Zeichnungen noch die Beschreibung als die Erfindung einschränkend auszulegen sind.

  • Fig. 1 zeigt schematisch einen Drehwinkelsensor gemäß einer Ausführungsform der Erfindung.
  • Fig. 2 zeigt schematisch einen Drehwinkelsensor gemäß einer weiteren Ausführungsform der Erfindung.
  • Fig. 3A, 3B und 3C zeigen schematisch Spulenlayouts für den Drehwinkelsensor aus der Fig. 2.
  • Fig. 4 zeigt ein Induktionselement für den Drehwinkelsensor aus der Fig. 2.
  • Fig. 5 zeigt schematisch einen Drehwinkelsensor gemäß einer weiteren Ausführungsform der Erfindung.
  • Fig. 6A, 6B und 6C zeigen schematisch Spulenlayouts für den Drehwinkelsensor aus der Fig. 5.
  • Fig. 7 zeigt Induktionselemente für den Drehwinkelsensor aus der Fig. 5.
  • Fig. 8A zeigt ein Bestromungsschema für einen Drehwinkelsensor gemäß einer Ausführungsform der Erfindung.
  • Fig. 8B zeigt ein Bestromungsschema für einen Drehwinkelsensor gemäß einer weiteren Ausführungsform der Erfindung.
Embodiments of the invention are described below with reference to the accompanying drawings, wherein neither the drawings nor the description are to be interpreted as limiting the invention.
  • Fig. 1 schematically shows a rotation angle sensor according to an embodiment of the invention.
  • Fig. 2 schematically shows a rotation angle sensor according to a further embodiment of the invention.
  • 3A, 3B and 3C schematically show coil layouts for the rotation angle sensor from the Fig. 2 .
  • Fig. 4 shows an induction element for the rotation angle sensor from the Fig. 2 .
  • Fig. 5 schematically shows a rotation angle sensor according to a further embodiment of the invention.
  • Figure 6A , 6B and 6C schematically show coil layouts for the rotation angle sensor from the Fig. 5 .
  • Fig. 7 shows induction elements for the rotation angle sensor from the Fig. 5 .
  • Figure 8A shows a lighting scheme for a rotation angle sensor according to an embodiment of the invention.
  • Figure 8B shows a lighting circuit for a rotation angle sensor according to a further embodiment of the invention.

Die Figuren sind lediglich schematisch und nicht maßstabsgetreu. Gleiche Bezugszeichen bezeichnen in den Figuren gleiche oder gleichwirkende Merkmale.The figures are only schematic and are not to scale. In the figures, the same reference symbols denote the same or equivalent features.

Ausführungsformen der ErfindungEmbodiments of the invention

Fig. 1 zeigt einen Drehwinkelsensor 10 aus einem Statorelement 12 und einem Rotorelement 14. Das Rotorelement 14 kann auf einer Welle 16 eines Bauteils, wie etwa einer Drosselklappe, einem Motor, einer Nockenwelle, eines Fahrpedals usw., befestigt sein oder von dieser Welle 16 bereitgestellt werden. Die Welle 16 ist um die Achse A drehbar und das Statorelement 12 liegt dem Rotorelement 14 in der entsprechenden axialen Richtung gegenüber. Beispielsweise ist das Statorelement 12 an einem Gehäuse des Bauteils befestigt. Fig. 1 shows a rotation angle sensor 10 consisting of a stator element 12 and a rotor element 14. The rotor element 14 can be fastened on a shaft 16 of a component, such as a throttle valve, an engine, a camshaft, an accelerator pedal, etc., or can be provided by this shaft 16. The shaft 16 is rotatable about the axis A and the stator element 12 lies opposite the rotor element 14 in the corresponding axial direction. For example, the stator element 12 is attached to a housing of the component.

Das Statorelement 12 umfasst eine Leiterplatte 18, auf der eine Mehrzahl von Spulen 20 in der Ebene der Leiterplatte 18 angeordnet ist. Die Leiterplatte 18 kann eine mehrlagige Leiterplatte 18 sein und die Leiter der Spulen 20 können sich auf den beiden Seiten der Leiterplatte 18 und zwischen den einzelnen Lagen der Leiterplatte 18 befinden. Auf der Leiterplatte 18 können sich weitere Bauelemente für eine Auswerteeinheit 22 befinden. Die Auswerteeinheit 22 kann jede der Spulen 20 mit einer Wechselspannung versorgen und auch eine induzierte Wechselspannung in jeder der Spulen 20 ermitteln. Basierend auf diesen Messungen kann die Auswerteeinheit 22 einen relativen Drehwinkel zwischen dem Statorelement 12 und dem Rotorelement 14 bestimmen.The stator element 12 comprises a printed circuit board 18, on which a plurality of coils 20 are arranged in the plane of the printed circuit board 18. The circuit board 18 can be a multi-layer circuit board 18 and the conductors of the coils 20 can be located on the two sides of the circuit board 18 and between the individual layers of the circuit board 18. Further components for an evaluation unit 22 can be located on the printed circuit board 18. The evaluation unit 22 can supply each of the coils 20 with an AC voltage and also determine an induced AC voltage in each of the coils 20. Based on these measurements, the evaluation unit 22 can determine a relative angle of rotation between the stator element 12 and the rotor element 14.

Das Rotorelement 14 umfasst ein oder mehrere Induktionselemente 24, die in axialer Richtung den Spulen 20 gegenüberliegen. Die Induktionselemente 24 können, wie in der Fig. 1 gezeigt, auf einer weiteren Leiterplatte angeordnet sein, die an der Welle 16 befestigt ist. Es ist auch möglich, dass das oder die Induktionselemente 24 durch Bearbeiten eines Endes der Welle 16 erzeugt werden.The rotor element 14 comprises one or more induction elements 24, which lie opposite the coils 20 in the axial direction. The induction elements 24 can, as in FIG Fig. 1 shown, be arranged on a further circuit board which is fixed to the shaft 16. It is also possible for the induction element (s) 24 to be produced by machining one end of the shaft 16.

Wenn die Auswerteeinheit 22 eine oder mehrere der Spulen 20 mit Wechselspannung versorgt, erzeugen diese ein Magnetfeld, das wiederum in dem Induktionselement 24, das aus einem elektrisch leitfähigen Material gefertigt ist, Wirbelströme induziert. Diese Wirbelströme erzeugen wiederum Magnetfelder, die mit den Spulen 20 wechselwirken und die Induktivität der Spulen 20 verändern. Basierend auf diesen veränderten Induktivitäten kann die Auswerteeinheit 22 den Drehwinkel bestimmen.If the evaluation unit 22 supplies one or more of the coils 20 with AC voltage, they generate a magnetic field, which in turn induces eddy currents in the induction element 24, which is made of an electrically conductive material. These eddy currents in turn generate magnetic fields that interact with the coils 20 and change the inductance of the coils 20. Based on these changed inductances, the evaluation unit 22 can determine the angle of rotation.

Die Fig. 2 zeigt einen Drehwinkelsensor, dessen Spulen (eine erste Spule 20a, eine zweite Spule 20b, eine dritte Spule 20c) lediglich einen Winkelbereich um die Achse A kleiner als 360° (hier etwa 120°) überdecken. Zur besseren Übersichtlichkeit überdeckt jede der Spulen nicht den kompletten Winkelbereich.The Fig. 2 shows a rotation angle sensor whose coils (a first coil 20a, a second coil 20b, a third coil 20c) only cover an angular range around the axis A smaller than 360 ° (here about 120 °). For better clarity, each of the coils does not cover the entire angular range.

Die drei Spulen 20a, 20b, 20c sind an ersten Anschlüssen 26 und zweiten Anschlüssen 28 mit der Auswerteeinheit 22 verbunden und werden dort von der Auswerteeinheit 22 zyklisch mit einer Wechselspannung versorgt. Beispielsweise werden innerhalb eines Zyklus aus drei Schritten zuerst die erste Spule 20a, dann die zweite Spule 20b und dann die dritte Spule 20c mit einer Wechselspannung versorgt, wobei die anderen beiden Spulen unbestromt bleiben. Durch die vom Drehwinkel abhängige Stellung des Induktionselements 24 (hier nicht dargestellt) koppeln die drei Spulen 20a, 20b, 20c abhängig vom Drehwinkel unterschiedlich stark mit dem Induktionselement 24 und damit auch untereinander. Somit werden je nach Drehwinkel in den unbestromten Spulen Wechselspannungen induziert, deren Betrag und/oder Phase ermittelt werden kann. Beispielsweise kann in diesen Spulen ein Wechselstrom bzw. ein Betrag und/oder eine Phase dieses Wechselstroms gemessen werden, aus dem die Spannung bzw. deren Betrag und/oder Phase abgeleitet werden kann.The three coils 20a, 20b, 20c are connected to the evaluation unit 22 at first connections 26 and second connections 28 and are cyclically supplied with an AC voltage by the evaluation unit 22 there. For example, within a cycle of three steps, first the first coil 20a, then the second coil 20b and then the third coil 20c are supplied with an alternating voltage, the other two coils remaining deenergized. Due to the position of the induction element 24, which is dependent on the angle of rotation (not shown here), the three coils 20a, 20b, 20c couple with the induction element 24 to a different extent depending on the angle of rotation and thus also with one another. Thus, depending on the angle of rotation, alternating voltages are induced in the non-energized coils, the magnitude and / or phase of which can be determined. For example, an alternating current or an amount and / or a phase of this alternating current can be measured in these coils, from which the voltage or its amount and / or phase can be derived.

Innerhalb eines Zyklus werden somit für drei verschiedene Konfigurationen von einer bestromten und zwei unbestromten Spulen 20 jeweils zwei verschiedene Beträge und/oder Phasen ermittelt, aus denen die Auswerteeinheit 22 dann den aktuellen Drehwinkel berechnen kann.Within a cycle, three different configurations of one energized and two non-energized coils 20 each become two different configurations Amounts and / or phases determined from which the evaluation unit 22 can then calculate the current angle of rotation.

Alternativ dazu kann die Auswerteeinheit 22 innerhalb eines Zyklus aus drei Schritten zuerst die erste Spule 20a und die zweite Spule 20b, dann die zweite Spule 20b und die dritte Spule 20c und dann die dritte Spule 20b und die erste Spule 20a mit zwei Wechselspannungen versorgen. In der verbleibenden Spule wird dann eine Wechselspannung induziert, aus deren Betrag und/oder Phase dann der Drehwinkel bestimmt werden kann.Alternatively, the evaluation unit 22 can first supply the first coil 20a and the second coil 20b, then the second coil 20b and the third coil 20c and then the third coil 20b and the first coil 20a with two AC voltages within a cycle of three steps. An alternating voltage is then induced in the remaining coil, from the amount and / or phase of which the angle of rotation can then be determined.

Neben dem Drehwinkel kann auch der Abstand des Induktionselements 24 bzw. des Rotorelements 14 von dem Sensorelement 12 in axialer Richtung aus den ermittelten Phasen und/oder Beträgen der induzierten Wechselspannung(en) bestimmt werden, beispielsweise durch Mittelwertbildung über mehrere Zyklen.In addition to the angle of rotation, the distance of the induction element 24 or of the rotor element 14 from the sensor element 12 in the axial direction can also be determined from the determined phases and / or amounts of the induced AC voltage (s), for example by averaging over several cycles.

Die Fig. 2 zeigt weiter, dass die drei Spulen 20a, 20b, 20c als planare Spulen mit mehreren in einer Ebene liegenden Windungen 34 ausgeführt sind. Die Spulen 20a, 20b, 20c sind in Umfangsrichtung zueinander versetzt auf dem Statorelement 12 angeordnet. Sie überdecken sich, entlang der der axialen Richtung betrachtet bzw. in Aufsicht, entlang der Umfangsrichtung zumindest teilweise.The Fig. 2 further shows that the three coils 20a, 20b, 20c are designed as planar coils with a plurality of turns 34 lying in one plane. The coils 20a, 20b, 20c are arranged offset on the stator element 12 in the circumferential direction. They overlap at least partially along the circumferential direction, as viewed or viewed from the axial direction.

Die Fig. 3A, 3B und 3C zeigen schematisch mögliche Spulenlayouts für die drei Spulen 20a, 20b, 20c. Die Spule 20a aus der Fig. 3A umfasst je einmal eine erste Windung 34a und eine zweite Windung 34b. Beide Windungen 34a, 34b sind gleich groß bzw. umlaufen die gleiche Fläche. Die beiden Windungen sind entlang der Umfangrichtung gegeneinander versetzt.The 3A, 3B and 3C schematically show possible coil layouts for the three coils 20a, 20b, 20c. The coil 20a from the Figure 3A each includes a first turn 34a and a second turn 34b. Both turns 34a, 34b are of the same size or run around the same area. The two turns are offset from one another along the circumferential direction.

Die Spulen 20b und 20c aus den Fig. 3B und 3C umfassen je zwei erste Windungen 34a und je eine zweite Windung 34b. Die zweite Windung 34b ist in Umfangsrichtung zwischen den ersten Windungen 34a angeordnet. Die ersten Windungen 34a sind unterschiedlich groß und/oder jeweils kleiner als die zweite Windung 34b. Die Summe der von den ersten Windungen 34a umschlossenen Flächen entspricht der von der zweiten Windung 34b umschlossenen Fläche.The coils 20b and 20c from the Figure 3B and 3C each include two first turns 34a and two second turns 34b. The second turn 34b is arranged in the circumferential direction between the first turns 34a. The first turns 34a are different in size and / or smaller than the second turn 34b. The sum of the areas enclosed by the first turns 34a corresponds to the area enclosed by the second turn 34b.

Die in den Fig. 3A, 3B und 3C gezeigten Spulen 20a, 20b, 20c können in einem Drehwinkelsensor so verbaut werden, dass sie sich vollständig überdecken. Jede der Spulen 20a, 20b, 20 wird dabei mit einer Einzelwechselspannung V1, V2, V3 versorgt, so wie es in der Fig. 2 gezeigt ist. Auf diese Weise sind die Windungen 34a, 34b der Spulen 20b, 20c, die verschieden große Flächen umlaufen, gegenüber den Windungen 34a, 34b der Spule 20a versetzt, so dass sich eine Windung 34a, 34b einer Spule 20a, 20b, 20c jeweils immer nur teilweise mit einer Windung 34a, 34b einer anderen Spule überdeckt. Auf diese Weise kann eine maximale Winkelauflösung für den von den drei Spulen 20a, 20b, 20c überdeckten Winkelbereich erzielt werden.The in the 3A, 3B and 3C Coils 20a, 20b, 20c shown can be installed in a rotation angle sensor so that they completely overlap. Each of the coils 20a, 20b, 20 is supplied with an individual AC voltage V1, V2, V3 supplies, as it is in the Fig. 2 is shown. In this way, the turns 34a, 34b of the coils 20b, 20c, which run around areas of different sizes, are offset with respect to the turns 34a, 34b of the coil 20a, so that one turn 34a, 34b of a coil 20a, 20b, 20c is only ever one partially covered with a turn 34a, 34b of another coil. In this way, a maximum angular resolution can be achieved for the angular range covered by the three coils 20a, 20b, 20c.

Jede der Spulen 20a, 20b, 20c umfasst gegenläufige Windungen, die in erste Windungen 34a mit einer ersten Orientierung und in zweite Windungen 34b mit einer zweiten, gegenläufigen Orientierung unterteilt werden können. Die Windungen 34a, 34b jeder Spule sind in Umfangsrichtung um die Achse A aufeinander abfolgend angeordnet, so dass sich eine Kette von Windungen mit abwechselnder Orientierung ergibt.Each of the coils 20a, 20b, 20c comprises opposing turns, which can be divided into first turns 34a with a first orientation and second turns 34b with a second, opposite orientation. The turns 34a, 34b of each coil are arranged in succession in the circumferential direction around the axis A, so that a chain of turns with alternating orientation results.

Die ersten Windungen 34a und die zweiten Windungen 34b umlaufen jeweils die gleiche Fläche, so dass ein homogenes (Stör-)Magnetfeld durch jede der Spulen 20a, 20b, 20c zwar einen Strom in der jeweiligen Windung 34a, 34b erzeugt, wobei sich die einzelnen Ströme jedoch in einer Spule 20a, 20b, 20c gegenseitig aufheben.The first turns 34a and the second turns 34b each have the same area, so that a homogeneous (interference) magnetic field through each of the coils 20a, 20b, 20c does indeed produce a current in the respective turn 34a, 34b, the individual currents however, cancel each other out in a coil 20a, 20b, 20c.

Fig. 4 zeigt ein Induktionselement 24 und aus Gründen der Übersichtlichkeit lediglich eine Spule, die erste Spule 20a. Die folgenden Ausführungen können jedoch auch für die zweite Spule 20b und die dritte Spule 20c gelten. Wie die Fig. 4 zeigt, ist das Induktionselement 24 in etwa so groß wie eine Windung, d.h. überdeckt aus axialer Sicht betrachtet bzw. in einer Projektion entlang der axialen Richtung in etwa die gleiche Fläche entlang des Umfangs. Jede der Windungen 34a, 34b erzeugt ein Magnetfeld, das wiederum in dem Induktionselement 24 Wirbelströme erzeugt, die wiederum ein Magnetfeld erzeugen, die in der jeweiligen Windung Ströme erzeugen und so die Induktivität der jeweiligen Windung 34a, 34b und somit die Gesamtinduktivität der Spule 20a, 20b, 20c verändern. Abhängig von der Winkelstellung des Rotorelements 14 mit dem Induktionselement ändert sich somit die Induktivität der Spulen 20a, 20b, 20c. Da die ersten Windungen 34a und die zweiten Windungen 34b der verschiedenen Spulen 20a, 20b, 20c versetzt zueinander angeordnet sind, ändert das Induktionselement 24 die Induktivitäten jeder Spule 20a, 20b, 20c zusätzlich unterschiedlich, so dass sich eine gute Winkelauflösung des Drehwinkelsensors 10 ergibt. Fig. 4 shows an induction element 24 and, for reasons of clarity, only one coil, the first coil 20a. However, the following statements can also apply to the second coil 20b and the third coil 20c. As the Fig. 4 shows, the induction element 24 is approximately as large as a turn, ie covered from an axial point of view or in a projection along the axial direction approximately the same area along the circumference. Each of the turns 34a, 34b generates a magnetic field, which in turn generates eddy currents in the induction element 24, which in turn generate a magnetic field, which generate currents in the respective turn and thus the inductance of the respective turn 34a, 34b and thus the total inductance of the coil 20a, 20b, 20c change. The inductance of the coils 20a, 20b, 20c thus changes depending on the angular position of the rotor element 14 with the induction element. Since the first turns 34a and the second turns 34b of the different coils 20a, 20b, 20c are arranged offset from one another, the induction element 24 additionally changes the inductances of each coil 20a, 20b, 20c differently, so that there is a good angular resolution of the angle of rotation sensor 10.

Die Fig. 5 bis 7 zeigen Darstellungen analog den Fig. 2 bis 4. Wenn nichts anderes beschrieben wird, gelten die Ausführungen zu den Fig. 2 bis 4 entsprechend.The 5 to 7 show representations analogous to 2 to 4 . Unless otherwise described, the explanations for the 2 to 4 corresponding.

In den Fig. 5 bis 7 ist ein Drehwinkelsensor 10 gezeigt, dessen erste Spule 20a, zweite Spule 20b und dritte Spule 20c das Sensorelement 12 vollständig umgeben. Die Spulen 20a, 20b, 20c sind identisch aufgebaut. Genauso wie bei der Fig. 2 sind die Spulen 20a, 20b, 20c auf dem Statorelement 12 zueinander versetzt angeordnet. Die jeweils 6 Windungen 34a, 34b der Spulen 20a, 20b, 20c umlaufen jeweils alle die gleiche Fläche, um äußere Störfelder zu kompensieren. Die Anzahl der Windungen ist nicht auf 6 beschränkt, sollte jedoch eine gerade Zahl sein, um Störfelder zu kompensieren. Aus der Anzahl der Windungen und dem Öffnungswinkel ergibt sich die Periodizität des Sensors.In the 5 to 7 A rotation angle sensor 10 is shown, the first coil 20a, second coil 20b and third coil 20c of which completely surround the sensor element 12. The coils 20a, 20b, 20c are constructed identically. Just like with the Fig. 2 the coils 20a, 20b, 20c on the stator element 12 are arranged offset to one another. The 6 turns 34a, 34b of the coils 20a, 20b, 20c each run around the same area in order to compensate for external interference fields. The number of turns is not limited to 6, but should be an even number to compensate for interference fields. The periodicity of the sensor results from the number of turns and the opening angle.

In den Fig. 5 bis 7 ist ein Drehwinkelsensor 10 gezeigt, dessen erste Spule 20a, zweite Spule 20b und dritte Spule 20c das Sensorelement 12 vollständig umgeben. Die Spulen 20a, 20b, 20c sind identisch aufgebaut. Genauso wie bei der Fig. 2 sind die Spulen 20a, 20b, 20c auf dem Statorelement 12 zueinander versetzt angeordnet. Die jeweils 6 Windungen 34a, 34b der Spulen 20a, 20b, 20c umlaufen jeweils alle die gleiche Fläche, um äußere Störfelder zu kompensieren. Die Anzahl der Windungen ist nicht auf 6 beschränkt, sollte jedoch eine gerade Zahl sein, um Störfelder zu kompensieren. Aus der Anzahl der Windungen und dem Öffnungswinkel ergibt sich die Periodizität des Sensors.In the 5 to 7 A rotation angle sensor 10 is shown, the first coil 20a, second coil 20b and third coil 20c of which completely surround the sensor element 12. The coils 20a, 20b, 20c are constructed identically. Just like with the Fig. 2 the coils 20a, 20b, 20c on the stator element 12 are arranged offset to one another. The 6 turns 34a, 34b of the coils 20a, 20b, 20c each run around the same area in order to compensate for external interference fields. The number of turns is not limited to 6, but should be an even number to compensate for interference fields. The periodicity of the sensor results from the number of turns and the opening angle.

Die Fig. 7 zeigt, dass auf dem Rotorelement 14 auch drei Induktionselemente 24 angeordnet sein können. Durch die drei um 120° zueinander versetzten Induktionselemente 24, die jeweils in etwa eine Windung 34a, 34b überdecken, kann sich eine bessere Kompensation von Toleranzen bei einem Eindeutigkeitsbereich von 120° ergeben. Hierbei sind in der Figur exemplarisch lediglich die erste Spule 20 und das Induktionselement 24 dargestellt, um die Figur übersichtlicher zu gestalten und das Zusammenwirken von Induktionselement 24 und den Spulen 20a, 20b, 20c darzustellen. Die zweite Spule 20b und die dritte Spule 20c sind gegenüber der ersten Spule 20a verdreht angeordnet.The Fig. 7 shows that three induction elements 24 can also be arranged on the rotor element 14. The three induction elements 24, which are offset by 120 ° to one another and each cover approximately one turn 34a, 34b, can result in better compensation of tolerances with a uniqueness range of 120 °. In this case, only the first coil 20 and the induction element 24 are shown as examples in the figure in order to make the figure clearer and to illustrate the interaction of the induction element 24 and the coils 20a, 20b, 20c. The second coil 20b and the third coil 20c are arranged rotated relative to the first coil 20a.

Die Fig. 8A zeigt ein Diagramm mit einem Bestromungszyklus 36 für die Spulen 20a, 20b, 20c des Drehwinkelsensors aus der Fig. 2 oder 5. Der Zyklus 36 besteht aus drei gleich langen Schritten 38 (in der Größenordnung von einer Millisekunde). Im Allgemeinen ist die Anzahl der Schritte 38 gleich der Anzahl der Spulen.The Figure 8A shows a diagram with an energization cycle 36 for the coils 20a, 20b, 20c of the rotation angle sensor from FIG Fig. 2 or 5 . The cycle 36 consists of three equally long steps 38 (on the order of one millisecond). In general, the number of steps 38 is equal to the number of coils.

Während des ersten Schritts 38a wird die erste Spule 20a mit Wechselspannung versorgt, d.h. dient als Sende- bzw. Erregerspule. Die anderen beiden Spulen (zweite Spule 20b und dritte Spule 20c) werden nicht bestromt, sondern es wird die in ihnen erzeugte Wechselspannung ermittelt. D.h., die beiden anderen Spulen 20b, 20c dienen als Empfangsspulen.During the first step 38a, the first coil 20a is supplied with AC voltage, i.e. serves as a transmitter or excitation coil. The other two coils (second coil 20b and third coil 20c) are not energized, but the AC voltage generated in them is determined. That is, the other two coils 20b, 20c serve as receiving coils.

In den folgenden Schritten werden die Rollen der Spulen zyklisch vertauscht: Im zweiten Schritt 38b dient die zweite Spule 20b als Sendespule und die erste Spule 20a sowie die dritte Spule 20c dienen als Empfangsspulen. Im dritten Schritt 38c dient die dritte Spule 20c als Sendespule und die erste Spule 20a sowie die zweite Spule 20b dienen als Empfangsspulen. Anschließend beginnt der nächste Zyklus wieder mit dem ersten Schritt 38, 38a.In the following steps, the roles of the coils are interchanged cyclically: in the second step 38b, the second coil 20b serves as a transmitting coil and the first coil 20a and the third coil 20c serve as receiving coils. In the third step 38c, the third coil 20c serves as a transmitting coil and the first coil 20a and the second coil 20b serve as receiving coils. The next cycle then begins again with the first step 38, 38a.

Durch die Ausführung der Spulen 20a, 20b, 20c als Planarspulen mit gegenläufigen Windungen 34 werden beispielsweise bei Beaufschlagung der ersten Spule 20a mit einer Wechselspannung (ohne Induktionselement 24) in den Windungen 34 jeweils elektromagnetische Wechselfelder unterschiedlichen Vorzeichens erzeugt. Da die umschlossenen Flächen von rechtslaufenden und linkslaufenden Windungen 34 jeweils gleich groß sind, heben sich die Felder nach außen auf und in den anderen Spulen (d.h. hier der zweiten Spule 20b und der dritten Spule 20c) wird keine Spannung induziert: Wird nun durch das Induktionselement 24 ein Teil der Sendespulenfläche abgeschirmt, heben sich die Teilfelder nicht mehr auf und es wird eine Spannung in den anderen beiden Spulen (zweite Spule 20b, dritte Sule 20c) induziert. Durch das zyklische Vertauschen der Sende- und Empfangsspulen ist eine Rückrechnung auf den Drehwinkel möglich und eine Kompensation eines variierenden Abstandes zwischen Statorelement 12 und Rotorelement 14 in axialer Richtung, beispielsweise aufgrund mechanischer Toleranzen, möglich.By designing the coils 20a, 20b, 20c as planar coils with opposing turns 34, for example when the first coil 20a is acted upon by an alternating voltage (without induction element 24), alternating electromagnetic fields of different signs are generated in the turns 34. Since the enclosed areas of right-hand and left-hand turns 34 are the same size, the fields cancel each other out and no voltage is induced in the other coils (ie here the second coil 20b and the third coil 20c): is now caused by the induction element 24 a part of the transmitter coil area is shielded, the subfields no longer cancel each other out and a voltage is induced in the other two coils (second coil 20b, third column 20c). The cyclical interchanging of the transmitting and receiving coils enables the angle of rotation to be recalculated and a varying distance between the stator element 12 and the rotor element 14 to be compensated in the axial direction, for example due to mechanical tolerances.

Die Fig. 8B zeigt ein Diagramm mit einem weiteren Bestromungszyklus 36 für die Spulen 20a, 20b, 20c des Drehwinkelsensors aus der Fig. 2 oder 5, bei dem pro Schritt 38 jeweils zwei Spulen bestromt werden.The Figure 8B shows a diagram with a further energization cycle 36 for the coils 20a, 20b, 20c of the rotation angle sensor from FIG Fig. 2 or 5 , in which two coils are energized per step 38.

Im ersten Schritt 38a dienen die erste Spule 20a und die zweite Spule 20b als Sendespulen und die dritte Spule 20c dient als Empfangsspule. Im zweiten Schritt 38b dienen die Spulen erste Spule 20a und die dritte Spule 20c als Sendespulen und die zweite Spule 20b dient als Empfangsspule. Im dritten Schritt 38c dienen die zweite Spule 20b und die dritte Spule 20c als Sendespulen und die erste Spule 20a dient als Empfangsspule.In the first step 38a, the first coil 20a and the second coil 20b serve as transmit coils and the third coil 20c serves as receive coil. In the second step 38b, the coils first coil 20a and the third coil 20c serve as transmit coils and the second coil 20b serves as receive coil. In the third step 38c, the second coil 20b and the third coil 20c serve as transmitting coils and the first coil 20a serves as a receiving coil.

Die jeweils bestromten Sendespulen können mit zwei unterschiedlichen Wechselspannungen mit unterschiedlichen Frequenzen versorgt werden, die in der Empfangsspule abhängig vom Drehwinkel eine Wechselspannung induzieren, die zwei Komponenten mit den beiden Frequenzen aufweist. Diese Komponenten können beispielsweise mit Fourier-Analyse voneinander abgetrennt und daraus der Betrag und/oder die Phase der Komponentenspannungen ermittelt werden.The current-carrying transmitter coils can be supplied with two different AC voltages with different frequencies, which, depending on the angle of rotation, induce an AC voltage in the receiver coil that has two components with the two frequencies. These components can be separated from one another, for example, using Fourier analysis and the amount and / or the phase of the component voltages can be determined therefrom.

Abschließend ist darauf hinzuweisen, dass Begriffe wie "aufweisend", "umfassend" etc. keine anderen Elemente oder Schritte ausschließen und Begriffe wie "eine" oder "ein" keine Vielzahl ausschließen. Bezugszeichen in den Ansprüchen sind nicht als Einschränkung anzusehen.In conclusion, it should be pointed out that terms such as "having", "comprising" etc. do not exclude other elements or steps, and terms such as "one" or "an" do not exclude a large number. Reference signs in the claims are not to be viewed as a restriction.

Claims (11)

  1. Rotation-angle sensor (10) comprising:
    a stator element (12) with at least three coils (20);
    a rotor element (14), rotatably mounted with respect to the stator element (12), which is designed to couple inductively with variable intensity, depending on an angle of rotation, with each of the at least three coils (20) ;
    an evaluating unit (22) for determining the angle of rotation between the rotor element (14) and the stator element (12);
    characterized in that
    the evaluating unit (22) is designed to supply the coils (20) cyclically in succession with alternating voltage, so that in each instance a first portion of the coils (20) is supplied with alternating voltage, and a remaining portion is left currentless by the evaluating unit; and
    the evaluating unit is designed to ascertain, cyclically in succession, in each instance a phase and/or a magnitude of an induced alternating voltage in one or more currentless coils (20), and to determine therefrom the angle of rotation.
  2. Rotation-angle sensor (10) according to Claim 1, wherein at least two coils (20) from the first portion of the coils are simultaneously supplied with differing alternating voltages.
  3. Rotation-angle sensor (10) according to Claim 1 or 2,
    wherein alternating voltages, with which the coils (20) from the first portion of the coils are supplied, exhibit differing frequency, differing phase and/or differing magnitude.
  4. Rotation-angle sensor (10) according to one of the preceding claims,
    wherein only one coil is supplied with alternating voltage, and in the remaining coils (20) a magnitude and/or a phase of an induced alternating voltage is/are ascertained in each instance; or
    wherein the induced alternating voltage is ascertained in only one coil (20), and the remaining coils are supplied with alternating voltage.
  5. Rotation-angle sensor (10) according to one of the preceding claims,
    wherein the evaluating unit (22) is designed to determine an axial spacing between the stator element (12) and the rotor element (14) from the magnitude and/or the phase of the induced alternating voltage.
  6. Rotation-angle sensor (10) according to one of the preceding claims,
    wherein the coils (20) are planar coils; and/or
    wherein the coils (20) are arranged on and/or in a printed circuit board (18).
  7. Rotation-angle sensor (10) according to one of the preceding claims,
    wherein the coils (20) mutually overlap at least partially in an axial direction; and/or
    wherein each of the coils (20) exhibits at least two turns (34) succeeding one another in the peripheral direction.
  8. Rotation-angle sensor (10) according to one of the preceding claims,
    wherein each of the coils (20) exhibits at least one first turn (34a) and at least one second turn (34b), the at least one first turn (34a) and the at least one second turn (34b) being oriented in counter-circulating manner; and/or
    wherein first turns (34a) and second turns (34b) of a coil (20) are arranged alternately on one another in the peripheral direction of the stator element (12); and/or wherein the area circulated by the first turns (34a) is equal to an area circulated by the second turns (34b).
  9. Rotation-angle sensor (10) according to one of the preceding claims,
    wherein turns (34a, 34b) of a coil (20) circulate differently-sized areas; and/or
    wherein turns (34a, 34b) of the coils (20) are arranged offset relative to one another.
  10. Rotation-angle sensor (10) according to one of the preceding claims,
    wherein the coils (20) are arranged in merely an angular range of the stator element (12); or
    wherein each of the coils (20) completely encircles the stator element (14).
  11. Rotation-angle sensor (10) according to one of the preceding claims,
    wherein the rotor element (14) exhibits at least one induction element (24) which is arranged within an angular range of the rotor element; and/or
    wherein the induction element (24) covers only one turn (34a, 34b) of a coil (20) in the axial direction.
EP16781126.4A 2015-10-22 2016-10-13 Rotation angle sensor Active EP3365634B1 (en)

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DE102015220650.5A DE102015220650A1 (en) 2015-10-22 2015-10-22 Rotation angle sensor
PCT/EP2016/074552 WO2017067840A1 (en) 2015-10-22 2016-10-13 Angular position sensor

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CN108351224B (en) 2021-05-11
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KR20180070589A (en) 2018-06-26
US20180224301A1 (en) 2018-08-09
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EP3365634A1 (en) 2018-08-29
WO2017067840A1 (en) 2017-04-27

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